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This paper develops a novel neural network (NN) based near optimal boundary control scheme for distributed parameter systems (DPS) governed by semilinear parabolic partial differential equations (PDE) in the presence of control constraints and unknown system dynamics. First, finite difference method (FDM) is utilized to develop a reduced order system which represents the discretized dynamics of PDE...
In this paper, a novel neural network (NN) adaptive dynamic programming (ADP) control scheme for distributed parameter systems (DPS) governed by parabolic partial differential equations (PDE) is introduced in the presence of control constraints and unknown system dynamics. First, Galerkin method is utilized to develop a relevant reduced order system which captures the dominant dynamics of the DPS...
This paper proposes a novel planner for whole arm manipulation for approximate trajectory tracking and to guarantee object stable grasp. Planning for whole arm manipulation requires a method that assures the stability and quality of the grasp since contact points are constantly changing. To guarantee acceptable quality and safety of the grasp along movement, a global planner is developed based on...
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